Wayne Rooney had given the Three Lions a first-half lead with a clinical finish after good work from Theo Walcott, but Gary Cahill’s mistake allowed Fred to equalise in the 47th minute.

However, Lampard, who replaced Tom Cleverley after the interval, scored an instinctive first-time strike to seal victory for Roy Hodgson’s men.

Here is the best of the Twitter reaction to England’s historic feat, in chronological order.

Tottenham midfielder Tom Huddlestone (@TomHuddlestone6) is looking forward to a big game: “Good luck to England tonight, will be tough against this Brazil team!! Amazing achievement by Ashley Cole as well, full credit to him!”

Marseille midfielder Joey Barton (‏@Joey7Barton) is not impressed by Brazil’s star man: “This Neymar fella is massively overrated. Not in the same street as Messi or Ronaldo.”

Ex-Sunderland midfielder Michael Gray (‏@mickygray33) is critical of Gary Cahill in the lead up to Brazil’s goal: “That’s what happens when you give the ball away against the top international sides… They punish you #EnglandvBrazil!

Former Spain midfielder Gaizka Mendieta (‏@GaizkaMendieta6) is a good judge of what constitutes a special strike: “What a finish by Lampard that is!! Wonderful touch!! #EnglandvBrazil”